Locus control system for construction machines

摘要

In a locus control system of hydraulic excavators, a target locus for a front device is set beforehand. A control unit calculates a position and posture of the front device based on signals from angle sensors, and calculates a target speed vector of the front device based on signals from control lever devices. Through this calculation process, the control unit maintains the target speed vector as it is when the front device is not near rom the target locus, and modifies the target speed vector to a vector pointing to a second point on the target locus advanced in the excavating direction by a second distance from a first point locating on the target locus at a minimum distance from a tip of the front device, when the front device is near the target locus. As a result, the tip of the front device can be settled to the target locus in a relatively quick, stable and highly accurate manner through a satisfactory path in match with a human feeling.